Residue monitoring and residue-based control

ABSTRACT

A computer-implemented method and a control system are described for controlling operations involving residue. The method and system include analyzing residue on an agricultural field. A first image is captured with an image sensor of an area of the field that is ahead of or behind the implement. The first image is analyzed to determine an indicator of residue coverage on the field. A subsequent operation on the field is executed, one or more aspects of which are controlled based upon the determined indicator of residue coverage.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This disclosure patent application is a continuation-in-part of U.S.patent application Ser. No. 14/262,468, filed Apr. 25, 2014, andentitled, RESIDUE MONITORING AND RESIDUE-BASED CONTROL, the contents ofwhich are incorporated herein by reference.

FIELD OF THE DISCLOSURE

This disclosure relates to monitoring residue and controlling operationsinvolving residue.

BACKGROUND OF THE DISCLOSURE

Various agricultural or other operations may result in residue coveringa portion of the area addressed by the operation. In an agriculturalsetting, for example, residue may include straw, corn stalks, or variousother types of plant material, which may be either cut or un-cut, andeither loose or attached to the ground to varying degrees. Agriculturalresidue may result, for example, from tillage operations, which maygenerally cut and bury plant material to varying degrees and,accordingly, may result in residue of various sizes covering the tilledground to various degrees. Notably, the size and coverage of residue mayvary from location to location even within a single field, depending onfactors such as the local terrain and soil conditions of the field,local plant coverage, residue characteristics before the instant tillage(or other) operation, and so on. Residue coverage may generally becharacterized by at least two factors: percent coverage (i.e.,percentage of a given area of ground that is covered by residue) andresidue size (i.e., a characteristic length, width or area of individualpieces of residue).

SUMMARY OF THE DISCLOSURE

A control system and computer-implemented method are disclosed formonitoring residue coverage and controlling various operations based onresidue coverage.

According to one aspect of the disclosure, a computer-implemented methodfor residue management for an implement with a camera assembly includesexecuting a first operation on a field with the implement, wherein thefirst operation results in residue on the field. A first image iscaptured with the camera assembly of an area of the field that is aheadof or behind the implement. The first image is analyzed to determine anindicator of residue coverage on the field. A subsequent operation onthe field is executed, one or more aspects of which are controlled basedupon the determined indicator of residue coverage.

In certain embodiments, the subsequent operation may utilize a differentimplement from the first operation and may not form part of a continuousseries of operations with the first operation. The indicator of residuecoverage may be associated with a location of the implement on the fieldand the subsequent operation controlled based upon, at least in part,the location. The indicator of residue coverage may include an indicatorof percent residue coverage, or of residue size. The camera assembly mayinclude a stereo image camera assembly or an infrared camera system.

In certain embodiments, the first image may be an image of an areabehind the implement and a second image may be captured of an area ofthe field ahead of the implement. The areas imaged by the first andsecond image may overlap and the two images may be compared to determinethe indicator of residue coverage.

In certain embodiments, the implement may be a tillage implement. Thefirst operation may include a first portion of a tillage operation withthe implement and the subsequent operation may include a second portionof the same tillage operation. Controlling one or more aspects of thesubsequent operation may include adjusting a depth or down-pressure of aplurality of tillage tools included on the implement.

According to another aspect of the disclosure, a control system includesone or more processor devices, one or more memory architectures coupledwith the one or more processor devices, and at least one camera assemblyin communication with the one or more processor devices. The one or moreprocessor devices are configured to execute functionality similar to themethod described above.

The details of one or more implementations of the disclosure are setforth in the accompanying drawings and the description below. Otherfeatures and advantages will become apparent from the description, thedrawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of an example tillage implement with respect towhich the disclosed system and/or method may be implemented, with awheel assembly in a retracted orientation;

FIG. 2 is another side view of the tillage implement of FIG. 1, with thewheel assembly in an extended orientation;

FIG. 3 is a perspective view of the tillage implement of FIG. 1, withthe wheels assembly in the retracted orientation;

FIGS. 4A and 4B are partial perspective views of the tillage implementof FIG. 1, showing, respectively, aft and forward image areas; and

FIG. 5 is a process diagram associated with a method for residuemonitoring and management for the tillage implement of FIG. 1.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

The following describes one or more example implementations of thedisclosed system and method, as shown in the accompanying figures of thedrawings described briefly above.

As noted above, various operations may result in residue on a field. Forexample, a primary tillage operation utilizing various rippers, cuttingdisks, and other tools may both cut and bury plant material along afield to varying degrees. Generally, after such an operation (andothers), some amount of residue (i.e., cut and un-cut plant material)may be left on the field surface. Such residue is often characterized atleast by a percent coverage (i.e., a percentage of a given area ofground that is covered by residue) and a characteristic residue size(i.e., an average, nominal, or other measurement of the length, width orarea of particular pieces of residue).

In certain applications, it is useful to understand the characteristicsof residue coverage with relative accuracy. For example, certainregulatory standards addressing erosion and other issues specify atarget percent coverage for residue after a particular operation, suchas a primary or secondary tillage operation, a planting operation, aspraying operation, and so on. Regulatory standards include the RevisedUniversal Soil Loss Equation Version 2 (RUSEL2). In various instances,it is useful to understand the characteristic (e.g., average) size ofresidue over a given area of a field. In certain operations, it isuseful to understand both percent coverage and residue size. Forexample, in order to execute an effective primary tillage operation anoperator may endeavor to leave at least 30% residue coverage, with nomore than 10% of residue material being larger than 4 inches long.

In some embodiments, an image sensor (e.g. camera, etc.) is mounted on atractor or other agricultural vehicles, implement or other non-attachedvehicle (e.g. satellite, etc.) that is utilized to determine the amountof surface residue before, after or during a farming operation. Thisinformation can then be utilized for a variety of actions includingfield documentation, open loop or closed loop operational control of awhole implement or portion thereof, or control of a future operation(implement or portion thereof). That is, field operation includes asingle soil engaging action for a subset of tools or for the wholemachine. In an example closed loop situation, residue is measured beforeand after the operation and the machine is operated according to machineany number of criteria including USDA compliance, erosion limited,prepopulated residue values, or uniform field residue goals.

Example actions include 1) sensor-measured residue levels after aspecific operation and recorded on-the-go (e.g. automatically, while inoperation of the agricultural implement with the image sensor) for aspecific geospatial location; 2) sensor-measured residue levels after aspecific operation and recorded on-the-go for a specific geospatiallocation and utilized to control an operation during a subsequent fieldoperation; 3) sensor measured residue level after a specific operationand the machine adjusted on-the-go to a value defined by an algorithm,pre-populated residue level (farm and field site specific), or operatorinput value to maintain a target value (e.g. specific surface residuevalue, minimum residue value, or maximum residue value); 4) sensormeasures residue levels before and after a specific operation anddetermines the amount of residue change on-the-go; 5) sensor measuresresidue levels before and after an operation and controls an operationeither on-the-go or during subsequent field operation.

In this light, it is useful to provide a system and method for activelyassessing aspects of residue coverage during a particular operation andutilizing this assessment to guide ongoing aspects of the particularoperation or a different, future operation. For example, for a primarytillage (or other) operation, it is useful to provide a control systemthat determines the percent coverage and characteristic size of residueon a portion of field that has already been tilled (or otherwiseaddressed), then utilize the determined percent coverage andcharacteristic size to guide the continuing tillage (or other) operationor a future operation (e.g., a secondary tillage operation or plantingoperation) on the same field. Various discussions herein mayspecifically address tillage operations using tillage implements. Itwill be understood, however, that the system and method disclosed hereinis utilized for a variety of other operations and a variety of otherimplements.

In certain embodiments, one or more camera assemblies is provided for atillage (or other) implement, which assemblies is capable of capturingvisible, infrared, or other images of a field on which the implement isoperating. In certain embodiments, at least one camera is mounted to thetillage implement so as to capture images of an area of groundimmediately behind the tillage implement. In certain embodiments, atleast one other camera is mounted to the implement so as to captureimages of an area of ground immediately ahead of the tillage implement.(In this context, it will be understood that “ahead,” “behind,” andsimilar positional references may not necessarily indicate locationsthat are entirely forward or aft of every component of the relevantimplement. Rather, these references may indicate locations that areforward or aft of the various tools or other components of the implementthat may affect residue coverage on the field. For example, for atillage implement with two front disk gangs, a central ripper assembly,and a back closing disk assembly a camera capturing images of an area“ahead” of the implement is viewed as capturing images on an area thatis forward of the front-most disk gang. Likewise, a camera capturingimages of an area “behind” the implement is viewed as capturing imagesof an area that is aft of the closing disk assembly.)

In certain embodiments, the various camera assemblies may capture imagesin the visible spectrum, in color or in grayscale, in infrared, basedupon reflectance or fluorescence, or otherwise. In certain embodiments,one or more camera assemblies may include stereo image camera assembliescapable of capturing stereo images of the field. For example, one ormore camera assemblies may include a stereo camera with two or morelenses and image sensors, or one or more camera assemblies may includemultiple cameras arranged to capture stereoscopic images of the field.

A computer system or device associated with the relevant implement mayanalyze the images of the field captured by the one or more cameraassemblies in order to determine an indicator of residue coverage on thefield. In certain embodiments, for example, the computer system ordevice may analyze the images in order to determine an indicator ofresidue coverage, such as a percent coverage of residue in the imagedarea of the field or a characteristic size (or size distribution) ofresidue in the imaged area of the field. An image is analyzed in avariety of ways, including through edge-finding algorithms, color- orgrayscale-gradient analysis, or other techniques.

In certain embodiments, images from behind an implement (i.e., “aft”images) are analyzed, in order to determine indicators of residuecoverage for areas of a field that have already been tilled (orotherwise addressed by the relevant operation). In certain embodiments,images from ahead of an implement (i.e., “forward” images) may also beanalyzed, in order to determine indicators of residue coverage for areasof field that have not yet been tilled (or otherwise addressed) in thecurrent pass of the implement. The forward images (or residue coverageinformation derived therefrom) may then be compared with aft images ofthe same (or similar) areas of the field (or residue coverageinformation derived therefrom) in order to assess the change in residuecoverage due to the instant operation.

Once a residue coverage indicator has been determined, the indicator forexample, is utilized to control aspects of a future operation over thefield. For example, in an ongoing tillage operation, if residueindicators from an aft image indicate insufficient residue coverage orsize, various aspects of the relevant tillage implement (e.g., disk orripper depth) is automatically adjusted in order to provide greaterresidue coverage or size. Similarly, if a comparison of residueindicators from forward and aft images indicates that an ongoing tillageoperation is decreasing residue coverage or size too aggressively,various aspects of the relevant implement is automatically adjustedaccordingly.

In certain embodiments, a residue coverage indicator is utilized tocontrol aspects of a future operation that is distinct from theoperation during which the indicator was determined. For example,residue coverage indicators from a primary tillage operation isassociated with location readings from a global positioning system(“GPS”) device in order to construct a map of residue coverage overvarious areas of a field. During a later secondary tillage operation,these location-specific residue coverage indicators may then be utilizedin order to appropriately control the secondary tillage implement. Forexample, if residue coverage indicators from the primary tillageoperation indicate excessive residue coverage over a portion of a field,during a secondary tillage operation various tools on a secondarytillage implement is automatically controlled to more aggressively tillthat portion of the field. Likewise, location-specific reside coverageindicators from a first pass of a primary tillage (or other) operationis used to automatically control aspects of tillage (or other) tools ona second pass of the operation.

In certain embodiments, the computer system or device is included on therelevant implement (e.g., as part of an embedded control system). Incertain embodiments, the computer system or device is included onanother platform (e.g., a tractor towing the implement or a remoteground-station) and may communicate with various devices on theimplement (e.g., various control devices) via various known means. Incertain embodiments, the computer system or device is in communicationwith a CAN bus associated with the implement or an associated vehicle,in order to send and receive relevant control and data signals.

As noted above, the system and method described herein is implementedwith respect to a variety of implements, including various agriculturalor other work implements. In certain embodiments, the described systemand method is implemented with respect to a primary tillage implement.Referring, for example, to FIGS. 1-4, example primary tillage implementis depicted as mulcher-ripper implement 10.

As depicted, implement 10 includes a coupling mechanism 12 for couplingthe implement 10 to a vehicle (not shown). This may allow implement 10to be towed across a field 16 in forward direction 14 in order toexecute a tillage operation. It will be understood that otherembodiments may include self-driven implements that may execute variousoperations without being towed by a separate vehicle.

Example implement 10 further includes a first frame section 20, which isconnected to the coupling mechanism 12 and generally extends in an aftdirection away from the coupling mechanism 12. A first set ofground-engaging tools is coupled to the first frame section 20. Asdepicted in FIGS. 1-3, for example, a set of shanks 22 is coupled to thefirst frame section 20. It will be understood, however, that other toolsmay additionally (or alternatively) be utilized. In certain embodimentsa plurality of wheel assemblies 24 may also be coupled to the firstframe section 20, in order to support the first frame section 20 abovethe field 16.

The implement 10 may include (or is in communication with) one or morecontrollers, which may include various electrical, computerized,electro-hydraulic, or other controllers. In certain embodiments, forexample, an electrohydraulic controller 30 is mounted to the couplingmechanism 12. The controller 30 may include various processors (notshown) coupled with various memory architectures (not shown), as well asone or more electrohydraulic valves (not shown) to control the flow ofhydraulic control signals to various devices included on the implement10. In certain embodiments, the controller 30 is in communication with aCAN bus associated with the implement 10 (or the towing vehicle (notshown)).

In certain embodiments, one or more hydraulic cylinders 32 (or otherlift devices) is coupled to the first frame section 20 and to the wheelassemblies 24. The cylinders 32 is in hydraulic (or other) communicationwith the controller 30, such that the controller 30 may signal thecylinders 32 to raise or lower the first frame section 20 relative tothe field 16 in order to move the various shanks 22 to variousorientations between a preliminary position (e.g., FIG. 1) and aparticular operating depth (FIG. 2). In certain embodiments, activationof the hydraulic cylinders 32 by the controller 30 may result in theshanks 22 being moved over a range of sixteen inches or more (e.g.,between the orientations depicted in FIGS. 1 and 2). Such movement ofthe shanks 22 relative to the field 16 is useful with regard to residuemanagement. For example, deeper penetration of the shanks 22 into thefield 16 may tend to bury more plant matter and therefore result insmaller percentage coverage of residue.

It will be understood that other configurations may also be possible.For example, in certain embodiments, the hydraulic cylinder 32 s (oranother lift device) is coupled directly to the shanks 22 (or associatedsupport components) rather than the wheel assemblies 24, in order todirectly move the shanks 22 relative to the field 16.

Implement 10 may also include a second frame section 40, which ispivotally coupled to the first frame section 20 (e.g., at one or morepivot points forward of the shanks 22. In certain embodiments, a secondset of ground-engaging tools is coupled to the second frame section 40.As depicted in FIGS. 1-3 and 4B, for example, a set of disk gangassemblies 42 is coupled to the second frame section 40. It will beunderstood, however, that other tools may additionally (oralternatively) be utilized.

In certain embodiments, the disks 46 of the forward disk gang assembly42 is angled generally outward and the disks 48 of the rearward diskgang assembly 42 is angled generally inward. In this way, the disks 46may generally auger soil and plant matter (including residue) outwardaway from the centerline of implement 10, and the disks 48 may generallyauger soil and plant matter (including residue) inward toward thecenterline of implement 10. It will be understood, however, that otherconfigurations is possible, including configurations with differentlyangled disks 46 or 48, configurations with a different number orarrangement of disk gang assemblies 42, and so on.

In certain embodiments, one or more hydraulic cylinders 44 (or otherlift devices) are coupled to the first frame section 20 and to thesecond frame section 40. The cylinders 44 is in hydraulic (or other)communication with the controller 30, such that the controller 30 maysignal the cylinders 44 to pivot the second frame section 40 relative tothe first frame section 20 in order to move the disk gang assemblies 42relative to the first frame section 20. In this way, controller 30 mayadjust the down-pressure of the disk gang assemblies 42 on the field 16as well as the penetration depth of the disks of the assemblies 42 intothe field 16. In certain embodiments, activation of the hydrauliccylinders 44 by the controller 30 may result in the disk gang assemblies42 being moved over a range of eight inches or more. Such movement ofthe disk gang assemblies 42 relative to the field 16 is useful withregard to residue management. For example, deeper penetration of thedisks 46 and 48 into the field 16 may tend to bury more plant matter andtherefore result in smaller percentage coverage of residue. Similarly,greater down-pressure of the disks 46 and 48 on the field 16 may resultin a greater amount of plant material being cut by the disks 46 and 48and, accordingly, in a generally smaller characteristic residue size.

It will be understood that other configurations may also be possible.For example, in certain embodiments, the hydraulic cylinders 44 (oranother lift device) is coupled directly to the disk gang assemblies 42(or associated support components) rather than the second frame section40, in order to directly move the disk gang assemblies 42 relative tothe field 16.

Implement 10 may also include a third frame section 56, which ispivotally coupled to the first frame section 20 (e.g., at one or morepivot points aft of the shanks 22). In certain embodiments, a third setof ground-engaging tools is coupled to the third frame section 56. Asdepicted in FIGS. 1-3 and 4A, for example, a closing disk assembly 58 iscoupled to the third frame section 56. It will be understood, however,that other tools may additionally (or alternatively) be utilized.

In certain embodiments, one or more hydraulic cylinders 60 (or otherlift devices) is coupled to the first frame section 20 and the thirdframe section 56. The cylinders 60 is in hydraulic (or other)communication with the controller 30, such that the controller 30 maysignal the cylinders 60 to pivot the third frame section 56 relative tothe first frame section 20 in order to move the closing assembly 58relative to the first frame section 20. In this way, controller 30 mayadjust the depth of the disks 62 of the assembly 58 relative to thefield 16. In certain embodiments, activation of the hydraulic cylinders60 by the controller 30 may result in the disks 62 being moved over arange of eight inches or more. Such movement of the disks 62 may also beuseful with regard to residue management.

It will be understood that other configurations may also be possible.For example, in certain embodiments, the hydraulic cylinders 60 (oranother lift device) is coupled directly to the closing disk assembly 58(or associated support components) rather than the third frame section56, in order to directly move the closing disk assembly 58 relative tothe field 16.

Various other control devices and systems is included on (or otherwiseassociated with implement 10. For example, a depth control device 70 ismounted to the first frame section 20 and is in hydraulic, electronic orother communication with controller 30, and cylinders 32, 44, and 60.The depth control device 70 may include various sensors (e.g.,rotational sensors, potentiometers, pressure transducers, hall-effectrotational sensors, and so on) configured to sense indications (e.g.,pressure, relative position, or combination of pressure and relativeposition) of the relative location (e.g., relative depth with respect tofield 16) of the shanks 22, the disks 46 and 48, the disks 62, orvarious other tools (not shown). A control unit (e.g., a control unitincluded in the controller 30) may receive signals from the varioussensors associated with control device 70 that may indicate a particularorientation (e.g., depth) of shanks 22, disks 46 and 48, or disks 62.The control unit may then, using open loop, closed loop,proportional-integral-derivative “PID,” or other control methodologies,determine an appropriate control signal to cause the cylinders 32, 44,and 60 to adjust, respectively, the orientation the shanks 22, disks 46and 48, and disks 62, as appropriate. In this way, for example, thecombined system of controller 30, the sensors of control device 70 andthe cylinders 32, 44, and 60 may move the shanks 22, disks 46 and 48,and disks 62 to, and maintain these devices at, any desired orientation.

In certain embodiments, one or more location-sensing devices may also beincluded on (or otherwise associated with) the implement 10. Forexample, a GPS device 72 may use GPS technology to detect the locationof the implement 10 along the field 16 at regular intervals (e.g.,during a tillage operation). The detected locations may then becommunicated via various known means to the controller 30 (or anothercomputing device) in order to inform various control strategies. Incertain embodiments, the detected locations may additionally (oralternatively) be communicated to one or more remote systems. Forexample, GPS device 72 may wirelessly transmit location information forthe implement 10 to a remote monitoring system for tracking of variousaspects of the operation of the implement 10. In certain embodiments, asdepicted in FIGS. 1-4, the GPS device 72 is mounted to implement 10. Incertain embodiments, the GPS device 72 is mounted in other ways,including to a vehicle (not shown) that tows the implement 10 along thefield 16.

In certain embodiments, one or more camera assemblies may also beincluded on (or otherwise associated with) the implement 10. In certainembodiments, referring in particular to FIGS. 4A and 4B, aft cameraassembly 74 is mounted to the implement 10 (or otherwise positioned) inorder to capture images at least of an area 76 behind the implement 10(i.e., “aft images”). In certain embodiments, forward camera assembly 78may additionally (or alternatively) be mounted to the implement 10 (orotherwise positioned) in order to capture images at least of an area 80forward of the implement 10 (i.e., “forward” images). The cameraassemblies 74 and 78 is in electronic (or other) communication with thecontroller 30 (or other devices) and may include various numbers ofcameras of various types. In certain embodiments, one or both of theassemblies 74 and 78 may include an infrared camera to capture infraredimages. In certain embodiments, one or both of the assemblies 74 and 78may include a grayscale camera to capture grayscale images. In certainembodiments, one or both of the assemblies 74 and 78 may include astereo camera assembly capable of capturing stereo images. For example,one or both of the assemblies 74 and 78 may include a stereo camera withtwo or more lenses and image sensors, or multiple cameras arranged tocapture stereoscopic images of the areas 76 and 80.

Images are captured by camera assemblies 74 and 78 according to varioustimings or other considerations. In certain embodiments, for example,the respective assemblies 74 and 78 may capture images continuously asimplement 10 executes a tillage (or other) operation on the field 16. Incertain embodiments, embedded control system (not shown) for eachassembly 74 and 78 may cause the respective assemblies 74 and 78 tocapture images of the areas 76 and 80, respectively, at regular timeintervals as implement 10 executes a tillage (or other) operation on thefield 16.

In certain embodiments, the timing of image capture by aft cameraassembly 74 is offset from the timing of image capture by forward cameraassembly 78 such that the portion of the field 16 within the image area76 when the aft camera assembly 74 captures an image substantiallyoverlaps with the portion of the field 16 that was within the image area80 when the forward camera assembly 78 captured a prior image. As such,for example, the relative timing of image capture for the two assemblies74 and 78 is varied by a control system (e.g., controller 30) based uponthe wheel speed of implement 10.

It will be understood that the image capture areas 76 and 80 of FIGS. 4Aand 4B are presented as example image capture areas only, and thatimages may additionally (or alternatively) be captured of differentareas of the field 16. Likewise, the mounting locations of the forwardand aft camera assemblies 78 and 74 are presented as examples only, andthe camera assemblies 78 and 74 (or various other camera assemblies) aremounted at various other locations. In certain embodiments, one or morecamera assemblies are mounted to a vehicle (not shown) that is towingthe implement 10, or at various other locations.

Referring also to FIG. 5, a residue monitoring and residue-based control(“RMRC”) method 200 is implemented with respect to mulcher-ripperimplement 10, or various other implements (not shown). In certainembodiments, instruction sets and subroutines for an RMRC process (e.g.,RMRC process 200) is stored on a storage device included in thecontroller 30 (or another device), is executed by one or more processorsand one or more memory architectures included in the controller 30 (oranother computing device). For the following discussion, the RMRCprocess 200 will be described for illustrative purposes, although itwill be understood that other configurations is possible.

In certain implementations, an RMRC process (e.g., the RMRC process 200)is a stand-alone processes. In certain implementations, an RMRC processmay operate as part of, or in conjunction with, one or more otherprocesses and/or may include one or more other processes. Likewise, incertain implementations, an RMRC process is represented and implementedby an entirely hardware-based configuration, in addition or as analternative to a configuration having an RMRC process 200 as a set ofinstructions stored in a particular memory architecture (e.g., withinthe controller 30).

In certain embodiments, the RMRC process 200 may include executing 202 afirst operation in a field, wherein the operation involves residue. Incertain implementations, the operation is a tillage operation (e.g., aprimary or secondary tillage operation), which may utilize themulcher-ripper implement 10. In certain implementations, the process 200may include executing 202 a different operation, such as a sprayingoperation, a planting operation, a baling operation, and so on. As such,various implements other than the implement 10 is utilized.

In certain implementations, the relevant operation is executed 202automatically. For example, the controller 30 may direct implement 10 toconduct a tillage operation. In certain implementations, the relevantoperation is executed 202 in response to operator (or other) input. Forexample, an operator may activate a towing vehicle (not shown) to towthe implement 10 across the field 16 in a tillage operation.

In certain implementations, various functionality included in method 200may proceed automatically as long as the relevant implement (e.g.,implement 10) is executing 202 the relevant operation (e.g., a tillageoperation). For example, in certain implementations, the controller 30(or another controller) may detect the execution 202 of the relevantoperation, which may trigger subsequent functionality of the RMRCprocess 200 (e.g., as implemented by the controller 30). For example,the controller 30 may determine that the implement 10 is moving across afield to execute 202 a tillage operation based upon wheel speed sensors(not shown), location information from GPS device 72, communication withthe towing vehicle (not shown) via a CAN bus, or otherwise.

As the relevant operation (e.g., a tillage operation) is executed 202,one or more camera assemblies may capture 204 one or more images of anarea of the field. The captured 204 images may include images of an areathat is currently forward of the relevant implement (i.e., forwardimages 208) and may include images of an area that is currently aft ofthe relevant implement (i.e., aft images 206). In certain embodiments,only forward images 208 is captured 204, only aft images 206 iscaptured, or both forward and aft images 208 and 206 is captured 204.Various images 206 and 208 is captured continuously, at pre-determinedtimes, in response to particular events (e.g., the implement passing amarker on a field, entering a particular field region, or undergoing anyvariety of transient event), or at pre-determined intervals (e.g., every3 seconds).

With respect to the implement 10, for example, the aft camera assembly74 may capture 204 one or more aft images 206 of aft image area 76 andthe forward camera assembly 78 may capture 204 one or more forwardimages 208 of forward image area 80. The various forward images 208 andaft images 206 is captured continuously (e.g., as a video stream), atpredetermined intervals, or based upon other criteria.

In certain implementations, the timing of the capture 204 of forwardimages 208 and aft images 206 is arranged so that at least one captured204 forward image 208 and at least one captured 204 aft image 206include substantially similar (e.g., substantially overlapping) views ofthe field 16. For example, where implement 10 is moving with a knownspeed and direction while executing 202 a tillage operation, the area ofthe field 16 falling within the forward image area 80 at a particulartime may fall within the aft image area 76 a known amount of time later.Accordingly, where both forward and aft images 208 and 206 are acquired204 non-continuously, it is possible for the RMRC process 200 to controlthe timing of the capture 204 of the images, respectively, by cameraassemblies 78 and 74 such that the two assemblies 78 and 74 each capture204 images of substantially the same portion of the field. For example,if the implement 10 is being towed at a speed of 4 m/s and there are 2meters separating the two image areas 76 and 80, the RMRC process 20 maydirect aft camera assembly 74 to capture 204 images with an offset of0.5 seconds from the capture 204 of corresponding images by forwardcamera 78.

Similarly, if images are captured 204 continuously by the two cameraassemblies 74 and 78, corresponding frames from the two assemblies 74and 78 (i.e., frames representing images 208 and 206 of the same portionof the field 16) is determined based on the amount of time the implement10 requires to travel the distance between the forward and aft imageareas 80 and 76. For example, if the implement 10 is being towed at aspeed of 4 m/s and there are 2 meters separating the two image areas 76and 80, the RMRC process 20 may determine that an image frame captured204 by the aft camera assembly 74 may include a view of a similar areaof the field 16 as an image frame captured 206 by the forward cameraassembly 0.5 seconds earlier in time.

Because the captured 204 images are to be utilized, at least in part, toassess residue coverage and, potentially, to corresponding control ofvarious operations (as described in greater detail below), it is usefulfor the images to include views of areas of the field 16 that arerelatively nearby the relevant implement. Accordingly, as noted above,the view of an aft camera assembly is generally directed toward an aftimage area that is relatively close to the rearmost active portion ofthe relevant implement (e.g., an area immediately behind the rearmosttool or component that may affect residue coverage). Similarly, the viewof a forward camera assembly is generally directed toward a forwardimage area that is relatively close to the most forward active portionof the relevant implement (e.g., an area immediately ahead of the mostforward tool or component that may affect residue coverage).

Even with the above-noted alignment of the various camera assemblieshowever, variations in the terrain of a field (or other factors) maysometimes result in a captured 204 image including a view of terrain (orother things) that is relatively far from the relevant implement. Forexample, as an implement crests a rise in rolling terrain, the view ofthe forward and aft camera assemblies, in turn, is temporarily directedover the rise such that a captured 204 image includes distant featuresrather than areas of the field adjacent to the implement. It is useful,in this and similar instances, to discard such images with respect toresidue coverage analysis.

In certain embodiments, it is useful to employ stereo-image capture 204for this purpose, due to the perspective information discernible fromstereo images. For example, when a stereo image is captured 204, theRMRC process 200 may utilize perspective information in the image toanalyze whether features in the image are appropriately close to therelevant implement, or whether those features are inappropriatelydistant from the implement (e.g., due to the relevant camera assemblyview temporarily extending over a rise in the terrain). If the featuresare inappropriately distant, the RMRC process 200 may select a new image(or set of images) for subsequent analysis. For example, the RMRCprocess 200 may wait a predetermined amount of time, then direct thecamera assemblies to capture 204 new images, or may wait a predeterminedamount of time, then select a new image that was automatically captured204 (e.g., due to a continuous or set-interval image capture 204configuration).

Once an appropriate image or set of images has been captured 204, theRMRC process 200 may analyze 210 the captured 204 image(s) to determinean indicator of residue coverage. As noted above, residue may includestraw, corn stalks, or various other types of plant material, which iseither cut or un-cut, and either loose or attached to the ground tovarying degrees. Residue coverage may include various measures of thedegree to which residue covers a portion of a field, including percentresidue coverage 212, residue size 214, absolute area covered byresidue, and various other measures.

Percent residue coverage 212 may generally refer to the percent of aparticular area of field that is covered by residue. In certainimplementations, it is useful for the RMRC process 200 to determinepercent residue coverage 212 for a particular segment of a field. Forexample, if an operator is attempting to provide a particular percentresidue coverage 212 (or range of percent residue coverage 212) in allareas of a field, it is useful to determine the local percent residuecoverage 212 at various locations around the field. In certainimplementations, it is useful for the RMRC process 200 to determinepercent residue coverage 212 for an entire field. For example, if anoperator desires a field to have an average field-wide percent residuecoverage 212, it is useful to determine a running average of percentresidue coverage 212 for the entire field.

Residue size 214 may generally refer to a characteristic or average sizeof residue. In certain implementations, residue size 214 may addresslength or width of residue. For example, the RMRC process 200 maydetermine the characteristic length or width of residue in a captured204 image with respect to a particular direction (e.g., the path oftravel of the relevant implement) or in from an absolute perspective(e.g., irrespective of the path of travel of the relevant implement). Incertain implementations, residue size 214 may address projected (orabsolute) surface area of residue. For example, the RMRC process 200 maydetermine an average surface area of residue in a captured 204 image, asprojected onto the area of the field included in the image.

The RMRC process 200 may analyze 210 images to determine indicators ofresidue coverage in a variety of ways including with edge-findingalgorithms, color- or grayscale-gradient analysis, analysis based uponreflectance or fluorescence, or with various other techniques. Incertain embodiments, the RMRC process 200 may analyze 210 images locally(e.g., within the controller 30 of the implement 10). In certainembodiments, the RMRC process 200 may communicate with various remotesystems in order to analyze 210 various images. For example, the RMRCprocess 200 may wirelessly transmit image data for a remote computingsystem for analysis. In certain embodiments, the RMRC process 200 maystore various captured 204 images locally or remotely for laterretrieval or analysis 210.

In certain embodiments, the RMRC process 200 may analyze 210 images inorder to determine indicators of residue coverage by, at least in part,comparing 216 information from one or more forward images 208 toinformation from one or more aft images 206. For example, the RMRCprocess 200 may identify a forward image 208 and an aft image 206 thatinclude a view of the same portion of a field and may compare the imagesin order to determine the effect of the passage of the relevantimplement on residue coverage over that portion of the field. In certainimplementations, for example, the RMRC process 200 may separatelyanalyze 210 each of the images 206 and 208 to determine separateindicators of residue coverage (e.g., indicators of percent residuecoverage or characteristic residue size for each image), then maycompare 216 the separate indicators in order to determine the change inresidue coverage caused by the passage of the relevant implement. Forexample, if the RMRC process 200 determines a percent residue coverageof 25% for the forward image 208 and a percent residue coverage of 15%for the aft image 206, this may indicate that passage of the implementhas resulted in a 10% absolute reduction in percent residue coverage 212for the analyzed 210 area of the field.

Similarly, in certain implementations, the RMRC process 200 may compare216 the captured 204 images 206 and 208 themselves or may compare 216 aportion of the information included in the images 206 and 208, beforedetermining the indicator(s) of residue coverage. For example, the RMRCprocess 200 may execute a pixel-by-pixel comparison operation on theimages 206 and 208 (e.g., a pixel-by-pixel subtraction of brightnessvalues), then may analyze 210 the resulting information to determineresidue coverage information.

In certain implementations, the RMRC process 200 may associate 218 aparticular captured 204 image or an indicator of residue coveragedetermined by analysis 216 of a particular captured 204 image with aparticular location on a field. This association 218 (and the associatedimage) may then be stored locally or remotely for later use. Forexample, an image captured by the forward camera assembly 78 of theimplement 10 is associated 218 with a GPS reading from the GPS device 72in order to link that image to a particular location on the field 16. Incertain implementations, the location information and the image (or aresidue coverage indicator determined from analysis 210 of the image)may then be stored so that later operations on that location of thefield 16 may retrieve the image (or the residue coverage indicator) as auseful reference. Further, in certain implementations, the locationinformation and the image (or an associated residue coverage indicator)is utilized in conjunction with other location-associated information.For example, the RMRC process 200 may compare determined residuecoverage indicators for a particular location in a field (e.g., alocation determined via the GPS device 72) to a target residue coverageindicator previously associated with that particular location.

As described in detail above, the RMRC process 200 is generally usefulfor assessing residue coverage of a field (or portions thereof) evenduring an active operation (e.g., a primary tillage operation with theimplement 10). Further, in certain implementations, the RMRC process 200may advantageously utilize the determined residue coverage informationto control 222 aspects of the execution 220 of a subsequent operation.

In certain implementations, the subsequent operation is a continuationof the first operation (e.g., may, with the first operation, for part ofa continuous series of operations). For example, in a primary tillageoperation utilizing the implement 10, a first operation is the tillingof a first portion of the field 16 and a subsequent operation is thetilling of a second (e.g., adjacent) portion of the field 16. As such,as described in greater detail below, analysis 210 of images that arecaptured 204 during a continuous and ongoing tillage (or other)operation on the field 16 is utilized to control 222 the continuous andongoing tillage (or other) operation.

In certain implementations, the subsequent operation is a differentoperation (e.g., may not form part of a continuous series of operationswith the first operation). For example, a first operation is a primarytillage operation utilizing the implement 10, and a subsequent operationis a secondary tillage operation utilizing a different implement (notshown), a baling operation, a seeding operation, and so on. As such, asdescribed in greater detail below, analysis 210 of images that arecaptured 204 during a first tillage (or other) operation on a field isutilized to control 222 a distinct and different operation on the fieldthat occurs at a later point in time.

The control 222 of a subsequent operation by the RMRC process 200 isbased upon various aspects of residue coverage, as determined throughthe analysis 210 of various images of a relevant field. In certainimplementations, for example, the RMRC process 200 may control 222aspects of a subsequent operation based upon a target local percentresidue coverage 212, a target global (i.e., field-wide) percent residuecoverage 212, a target local residue size 214, a target global averageresidue size 214, and so on. The above-noted targets is user-determinedor is determined automatically by the RMRC process 200 (e.g., based uponanalysis of historical residue and other information). In certainimplementations, the targets are specific targets (e.g., 10% localpercent residue coverage or 3-inch characteristic residue length). Incertain implementations, the targets may include ranges (e.g., between10% and 30% local percent residue coverage or between 3-inch and 6-inchcharacteristic residue length). In certain embodiments, the targets mayvary across a particular field (e.g., 10% local percent residue coveragealong flat portions of a field and 30% local percent residue coveragealong sloped portions of the field).

The control 222 of a subsequent operation by the RMRC process 200 mayinclude control 222 of various aspects of the subsequent operation,including vehicle speed, orientation and operation of various tools,rate of application of various substances (e.g., in a sprayingoperation), and so on. In certain implementations, the control 222 of anoperation may include control of various tools through adjustment oftool angle and extension, tool rotational or articulation speed, orvarious other factors. Where the subsequent operation is a tillageoperation, the control 222 of the operation may include adjusting 224the depth or down-pressure of one or more tillage tools throughautomatic activation of various actuators. With reference to theimplement 10, for example, the control 222 of a tillage operation mayinclude activation of one or more of the hydraulic cylinders 32, 44, and60 in order to adjust the orientation (or down-pressure) of,respectively, shanks 22, disks 46 and 48, and disks 62. For example,where residue coverage information determined through analysis 210 ofone or more images indicates that a smaller residue size 214 or smallerpercent residue coverage 212 is needed, the RMRC process 200 mayactivate various of the cylinders 32, 44, or 60 in order to increase thedepth or down-pressure of various of the shanks 22, disks 46 and 48, anddisks 62.

Where the control 222 of a subsequent operation includes control of anongoing operation that includes the first operation, various controlstrategies is employed. In certain implementations, as described above,various aft images 206 and forward images 208 from the first operationis compared 216 in order to assess, in real-time, the effect of aparticular operation on local (or global) residue coverage of a field.The residue information determined by the image comparison 216 may thenbe utilized to continually adjust and refine the orientation andoperation of various tools or components in order to obtain a targetresidue coverage.

In certain implementations, forward images 208 is analyzed 210separately, in order to assess the characteristics of residue coverageon areas of a field that are immediately in front of a relevantimplement (i.e., areas of the field that are about to be processed bythe implement). Various aspects of the implement (e.g., the orientationand operation of various tools or components) may then be preemptivelyadjusted in order to address the oncoming residue coverage. For example,if analysis 210 of a forward image 208 identifies a particularly highlevel of residue coverage, relative to a target residue coverage,various tools of an implement (e.g., the disk gang assemblies 42 of theimplement 10) is articulated to a particular aggressive orientation.

Similarly, in certain implementations, aft images 206 is analyzed 210separately, in order to assess the characteristics of residue coverageon areas of a field that are immediately behind a relevant implement(i.e., areas of the field that have just been processed by theimplement). Various aspects of the implement (e.g., the orientation andoperation of various tools or components) may then be adjusted in orderto effect changes in residue coverage of upcoming areas. For example, ifanalysis 210 of an aft image 206 identifies a particularly high level ofresidue coverage, relative to a target residue coverage, various toolsof an implement (e.g., the disk gang assemblies 42 of the implement 10)is articulated to a particular aggressive orientation.

In certain implementations, one or more of the above control strategies(or others) is utilized in various combinations. For example, withrespect to the implement 10, the control 222 of a subsequent portion ofan ongoing tillage operation may include analyzing 210 forward images208 in order to preemptively adjust 224 depth of the disks 46 and 48, aswell as analyzing 210 aft images 206 in order to fine tune theadjustments 224 of the disks 46 and 48, in light of their effect onresidue coverage.

Where the control 222 of a subsequent operation includes control of asubsequent operation that is distinct (e.g., substantially removed intime) from the first operation, various control strategies may also beemployed. In certain implementations, as described above, various aftimages 206 and forward images 208 from a first operation is compared 216in order to assess the effect of a particular operation on local (orglobal) residue coverage of a field. This residue coverage informationmay then be associated 218 with a particular location in the field andstored for later retrieval. (Alternatively, the images 206 and 208themselves are associated 218 with a particular field location andthemselves stored for later comparison 216 or other analysis 210). Theresidue information determined by the image comparison 216 may then beutilized in a subsequent (e.g., substantially later) operation to adjustand refine the orientation and operation of various tools or componentsat particular field locations in order to obtain a target residuecoverage.

In certain implementations, for example, a primary operation may includea fall tillage operation by the implement 10. As the implement 10travels over the field 16, the camera assemblies 76 and 78 may capture204 various images 206 and 208, which may analyzed 210 to determineresidue coverage information for associated 218 locations on the field16. During a distinct, later operation using a different tillageimplement (e.g., a spring tillage operation using a spring fieldcultivator), this residue coverage information may then be retrieved inorder to adjust and refine the orientation and operation of varioustools or components of the different tillage implement in order toobtain a target residue coverage at particular field locations.

In certain implementations, aspects of a subsequent operation issimilarly controlled 222 based upon separate analysis of aft images 206,forward images 208, or both. For example, as the implement 10 travelsover the field 16, the aft camera assembly 74 may capture 204 variousaft images 206, which is analyzed 210 to determine, for variousassociated 218 locations on the field 16, the percent residue coverage212 or residue size 214 after passage of the implement 10 (e.g., thefinal percent residue coverage 212 or residue size 214 for various fieldlocations). During a subsequent operation (e.g., a later secondarytillage operation) the RMRC process 200 may then utilize this residuecoverage information to control 222 various aspects of the subsequentoperation.

It will be understood that the various types of analysis 210, control222, and so on contemplated by this disclosure may alternatively (oradditionally) be applied with respect to non-tillage operations. Forexample, the RMRC process 200 may include capture 204 of images during acombine operation and control 222 of various tools or components duringa baling operation, control 222 of various tools or components during aplanting or other operation, and so on.

Any suitable computer usable or computer readable medium may beutilized. The computer usable medium may be a computer readable signalmedium or a computer readable storage medium. A computer-usable, orcomputer-readable, storage medium (including a storage device associatedwith a computing device or client electronic device) may be, forexample, but is not limited to, an electronic, magnetic, optical,electromagnetic, infrared, or semiconductor system, apparatus, ordevice, or any suitable combination of the foregoing. More specificexamples (a non-exhaustive list) of the computer-readable medium wouldinclude the following: an electrical connection having one or morewires, a portable computer diskette, a hard disk, a random access memory(RAM), a read-only memory (ROM), an erasable programmable read-onlymemory (EPROM or Flash memory), an optical fiber, a portable compactdisc read-only memory (CD-ROM), an optical storage device. In thecontext of this document, a computer-usable, or computer-readable,storage medium may be any tangible medium that can contain, or store aprogram for use by or in connection with the instruction executionsystem, apparatus, or device.

A computer readable signal medium may include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal may takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium may be non-transitory and may be anycomputer readable medium that is not a computer readable storage mediumand that can communicate, propagate, or transport a program for use byor in connection with an instruction execution system, apparatus, ordevice.

Aspects of certain embodiments are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems) and computer program products according to embodiments of theinvention. It will be understood that each block of any flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer program instructions. These computer program instructions maybe provided to a processor of a general purpose computer, specialpurpose computer, or other programmable data processing apparatus toproduce a machine, such that the instructions, which execute via theprocessor of the computer or other programmable data processingapparatus, create means for implementing the functions/acts specified inthe flowchart and/or block diagram block or blocks.

These computer program instructions may also be stored in acomputer-readable memory that can direct a computer or otherprogrammable data processing apparatus to function in a particularmanner, such that the instructions stored in the computer-readablememory produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions may also be loaded onto a computer orother programmable data processing apparatus to cause a series ofoperational steps to be performed on the computer or other programmableapparatus to produce a computer implemented process such that theinstructions which execute on the computer or other programmableapparatus provide steps for implementing the functions/acts specified inthe flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods and computer program products according to variousembodiments of the present disclosure. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof code, which comprises one or more executable instructions forimplementing the specified logical function(s). It should also be notedthat, in some alternative implementations, the functions noted in theblock may occur out of the order noted in the figures. For example, twoblocks shown in succession may, in fact, be executed substantiallyconcurrently, or the blocks may sometimes be executed in the reverseorder, depending upon the functionality involved. It will also be notedthat each block of the block diagrams and/or flowchart illustration, andcombinations of blocks in the block diagrams and/or flowchartillustration, can be implemented by special purpose hardware-basedsystems that perform the specified functions or acts, or combinations ofspecial purpose hardware and computer instructions.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

The description of the present disclosure has been presented forpurposes of illustration and description, but is not intended to beexhaustive or limited to the disclosure in the form disclosed.Accordingly, various embodiments and implementations other than thoseexplicitly described are within the scope of the following claims.

What is claimed is:
 1. A control system for residue management with anagricultural implement, the control system comprising: at least oneimage sensor mounted to the agricultural implement to capture a firstimage of an area of ground ahead of or behind the agricultural tillageimplement; a computing device that determines an indicator of residuecoverage on the area of ground; wherein the computing device furtherdetermines if the indicator is within a regulatory standard addressingerosion that specifies a target percent coverage; wherein the computingdevice further determines an effect of an operation on the residuecoverage based upon the determined indicator; and wherein theagricultural implement changes one or more aspects of a subsequent oron-the-go ground engaging operation on the area of ground based upon theeffect and based upon the determined indicator.
 2. The control system ofclaim 1, wherein the subsequent ground engaging operation includes adifferent implement that does not form part of a continuous series ofoperations.
 3. The control system of claim 1, wherein the computingdevice associates the determined indicator of residue coverage with alocation of the agricultural implement on a field; and the computingdevice controls the one or more aspects of the subsequent groundengaging operation based upon, at least in part, the location.
 4. Thecontrol system of claim 1, wherein the agricultural implement includes atillage implement having a plurality of ground-engaging tillage tools;and wherein the subsequent or on-the-go ground engaging operationincludes adjusting at least one of a depth and a down-pressure of atleast one of the plurality of tillage tools based upon the determinedindicator of residue coverage.
 5. The control system of claim 1, whereinthe agricultural implement includes a tillage implement having aplurality of ground-engaging tillage tools; and wherein the subsequentor on-the-go ground engaging operation includes automatically adjustingan aggressiveness of the at least one of the plurality of tillage toolsbased upon the determined indicator of residue coverage and the targetpercentage of coverage.
 6. The control system of claim 1, wherein thedetermined indicator of residue coverage includes an indication ofresidue size; wherein the computing device includes at least one of anedge-finding algorithm, a color or grayscale gradient analysis, and areflectance or fluorescence analysis to determine the indication ofresidue size.
 7. A method for residue management for an agriculturalimplement with at least one image sensor, the method comprising:capturing, with the at least one image sensor, a first image of a firstarea of a field that is ahead of the agricultural implement and a secondimage of a second area of the field that is behind the agriculturalimplement; analyzing the first and second images, by one or morecomputing devices, to acquire and compare residue information from eachof the first and second images to determine an indicator of residuecoverage on the field; comparing the determined indicator with aregulatory standard addressing erosion that specifies a target percentcoverage; executing a subsequent or on-the-go operation on the fieldwith the agricultural implement; and controlling, by the one or morecomputing devices, one or more aspects of the subsequent or on-the-gooperation based upon, at least in part, the determined indicator and thetarget percent coverage.
 8. The method of claim 7, wherein the at leastone image sensor includes an aft camera and a forward camera spacedapart from the aft camera in a direction of travel of the agriculturalimplement.
 9. The method of claim 7, wherein the at least one imagesensor includes at least one of a stereo image image sensor and aninfrared camera system and a video stream.
 10. The method of claim 7,wherein a portion of the field included in the second image is alsoincluded in the first image.
 11. The method of claim 7, wherein the oneor more computing devices determine a first indicator of residuecoverage of the first area of the field and a second indicator ofresidue coverage of the second area of the field; and wherein the one ormore computing devices compare the first and second indicators ofresidue coverage to determine a change in residue coverage.
 12. Acontrol system for operation of one or more agricultural operations on afield with residue, the control system comprising: an image sensorincluding a first sensor and a second sensor spaced apart from a firstcamera in a direction of travel of a tillage implement; one or moreprocessor devices in communication with the image sensor; and one ormore memory architectures coupled with the one or more processordevices; wherein the one or more processor devices are configured to:identify the execution of a first tillage operation on the field withthe tillage implement, the first operation resulting in residue on thefield; cause the image sensor to capture first and second images offirst and second areas of the field that are ahead of and behind thetillage implement, respectively; analyze the first and second images todetermine an indicator of residue coverage on the field; compare theindicator of residue coverage on the field with a target percentagecoverage provided by a regulatory standard addressing erosion; execute asubsequent or on-the-go operation on the field; and control one or moreaspects of the subsequent or on-the-go operation on the field basedupon, at least in part, the determined indicator of residue coverage.13. The control system of claim 12, wherein the subsequent operationutilizes a different implement and does not form part of a continuousseries of field operations with a previous field operation.
 14. Thecontrol system of claim 12, wherein the one or more processor devicesare further configured to: associate the indicator of residue coveragewith a location of the tillage implement on the field; and control theone or more aspects of the subsequent operation further based upon, atleast in part, the location.
 15. The control system of claim 14, whereinthe tillage implement includes a plurality of ground-engaging tillagetools; wherein the first operation includes a first portion of a tillageoperation on the field; wherein the subsequent operation includes asecond portion of the tillage operation on the field; and whereincontrolling the one or more aspects of the subsequent or on-the-gooperation includes adjusting at least one of a depth and a down-pressureof at least one of the plurality of tillage tools based upon thedetermined indicator of residue coverage.
 16. The control system ofclaim 12, wherein the determined indicator of residue coverage includesan indicator of percent coverage; and wherein the one or more processordevices include at least one of an edge-finding algorithm, a color orgrayscale gradient analysis, and a reflectance or fluorescence analysisto determine the percentage coverage.
 17. The control system of claim12, wherein the determined indicator of residue coverage includes anindicator of residue size.
 18. The control system of claim 12, whereinthe image sensor is at least one of a stereo image image sensor and aninfrared camera system and a video stream.
 19. The control system ofclaim 12, wherein a portion of the field included in the second image isalso included in the first image.
 20. The control system of claim 12,wherein the one or more processor devices determine a first indicator ofresidue coverage of the first area of the field associated with thefirst image and a second indicator of residue coverage of the secondarea of the field associated with the second image; and wherein the oneor more processor devices compare the first and second indicators ofresidue coverage to determine a change in residue coverage.